Range and azimuth simulating system for radar instruction



April 6, 1948. 0.1-1. PENNOYER RANGE AND AZIMUTH SIMULATING SYSTEM FOR RADAR IKSTRUCTION Filed Deb. 6, 1943 flz/HUTH SHIFT HIIHHIHIIIIIIHIII 4 Sheets-Sheet 1 lllllHll AME FIG.

INVENTOR 0. hi PE NNOYE R MYMM .4 TTORNEV FIG. 2

April 1943- D. H. PENNOY ER 2,438,940

RANGE AND AZIMUTH SIMULATING SYSTEM FDR RADAR INSTRUCTION Filed Dec. 6, 1943 4 Sheets-Sheet 2 A TTORNEV P 1943- D. H. PENNOYER 2,438,940

AND AZIMUTH SIMULATING SYSTEM FOR RADAR INSTRUCTION RANGE Filed Dec. 6, 1943 4 Sheets-Sheet 3 5.3 QM Edam INVENTOR N D. H. PENNOVE ATTORNEY ihu low 5k 23h 3m 3 5m w $3 23 mwuiu $083 \Nh R 2 15 No MN 5% 5E5. a. 3 3m ESE A r 3. a BK wt April 6; 1948. D. H. PENNOYER 2,438,940

RANGE AND AZIMUTH SIMULA'IING SYSTEM FOR RADAR INSTRUCTION Filed Dec. 6, 1943 4 Sheets-Sheet 4 ATTORNEY Patented Apr. 6, 1948 RANGE AND AZIMUTH .SMULATING SYS- TEM FOR RADAR INSTRUCTION Douglas H. Pennoyer, Chatham, N. 3., assignor to Bell Telephone Laboratories. Incorporated, New York, N. Y., acorporatlon of New York Application Deceiirber 6, 1943, Serial No. 513,076

8 Claims.

This invention relates to object-locating systems and particularly to systems of this character for simulating the courses and movements ofobjects in space. 1

The objects of the invention are to simulate at will any desired course of an object moving in space; to generate a course in which the range and angular relation with respect to a reference point vary in any desired manner; to predetermine the speed at which the imaginary objects move; to produce electrical quantities which vary in accordance with instant values of the range and angular location of said object; to utilize these electrical quantities for training students in the art of locating moving objects; and in other respects to obtain improvements in systems of this general character. v

Object-locating systems have been devised for obtaining a continuous derivation of the location of an airplane or other object moving at a variable speed along a variable course in space. In one such system directive radio impulses are transmitted from the point of observation to the airplane, from which they return as echo ,impulses. 'I'hese returning impulses are received 1 and utilized to form moving images on a, screen before the operator which serve as acontinuous representation of the range and angle, either azimuth or elevation, of the moving airplane. The

operator is also provided with means, such as hand wheels, which he manipulates'to follow or otherwise control these changing images. If he manipulates his range wheel accurately, its position at any instant is an exact measure of the range of the moving airplane, and the same is true with respect to the hand wheels with which he follows the azimuth and elevation angles.

Since the accuracy of the information obtained from these object-locating systems depends largely upon the proficiency of the operators, it is desirable to give these operators a preliminary course of'training under conditions which simulate as closely as possible the actual conditions which they will ultimately encounter in operating the object-locating systems. Accordingly, a feature of the present invention is a training system which simulates automatically in terms of varying electrical quantities the courses over which imaginary objects are moving with respect to a given point of observation and which utilizes these varying electrical quantities to produce before the student visible images which appear and behave the same as those he would see if he were operating a locating system and observing a real object moving through space. More specifically, this system is capable of simulating an infinite number of courses which may be preselected at will to obtain the desired rate of change of range and azimuth angle with respect to the point of observation. To this end a shaft, rotatable by a driving motor through a given angular distance, represents in each of its angular positions the instant azimuth angle of the imaginary object; and a second shaft, likewise movable through an angular distance by a driving motor, represents the instant range values of said object. The degree of rotation of the azimuth and range shafts is determined by voltages applied to the driving motors under the control of resistors, one of which is located at the instructors position and is manually adjustable by him to preselect the course he wishes to simulate.

The courses generated by this system are parallel lines of a fixed length lying in the same plane, which may be assumed to be a horizontal plane. The point of observation'is also in this plane and lies in the perpendicular line which bisects the parallel course lines. It, therefore, the azimuth reference line is assumed to be parallel to the course lines, the azimuth angle has a minimum value at the starting point of any course, increases to degrees as the object reaches the midpoint of the course, and continues to increase until at the end of the course it reaches 'a value of degrees minus its starting value. Also the range has a maximum value at the starting point of the course, decreases to its minimum value at the midpoint, and then increases until at the end of the course it reaches the starting value.

According, therefore, to another feature of the invention the azimuth and range motors respond automatically, when the instructor adjusts his course resistor to select the course he wishes to simulate, and give their respective shafts initial settings which correspond to the azimuth angle and range of the starting point of the selected course. And according to a related feature the driving motors automatically bring their shafts to rest at angular positions which correspond respectively to the azimuth angle and range of the imaginary object when it reaches the end of the course.

A further feature of the invention is a system of this character in which the speed of rotation of the azimuth and range shafts is representative of the speed of the imaginary object in its course and is predetermined by a flight motor which operates during the generation of the course at a speed selected at will by the instructor.

A further feature of the invention is a system in which the azimuth and range motors generate a selected course by operating-devices that vary the magnitude of electrical quantities, such as voltage amplitude and phase, in accordance with the varying azimuth angle and range, and in which these varying quantities are utilized to produce visible images before a student. representing to him the azimuth and range relations .of the imaginary object moving along said course.

The foregoing and other features of the invention will be discussed more fully in the following detailed specification.

In the drawings accompanying the specification:

Figs. 1, 2 and 3 illustrate a training system including an electrical course generator embodying the features of the present invention;

Figs. 1 and 2 show the equipment at the instructors position, including the azimuth and range shafts, the operating and controlling motors and the associated resistors and phase'shlfters;

Fig. 3 shows the equipment at a students position, including an oscilloscope and a phase shifter and resistor which the student operates manually;

Fig. 4 is a diagram showing some of the various courses that may be generated;

Fig. 5 illustrates the oscilloscope images for I the student islikely to encounter when he is later entrusted with the manipulation of alocating system. The three dimensions of primary interest in the location of a moving object such as an airplane are range, azimuth angle, and ascension or elevation angle. In view of the close similarity from the operator's standpoint in the methods oi deriving the azimuth and elevation.

angles it is usually considered sufficient for training purposes to omit one of these. It may be assumed, therefore, that all of the courses generated by the imaginary object lie in the same horizontal plane which contains the reference point or point of observation, thus omitting the elevation angle. It may also be assumed that all courses illustrated herein are straight lines, are parallel to each other, are perpendicular to a line including the point of observation. and are bisected by this perpendicular line. It will be understood, however, that the invention may be applied to systems in which more than one angular dimension is used, to systems in which the courses are curvilinear, and to those in which the simulated courses bear varying relations to each other.

The arrangement of courses above mentioned is illustrated in Fig. 4. a The point of observation 0 is located on the line OY which is perpendicular to and bisects all course lines C which may be drawn between the parallel lines EF and GH.

Although all courses are of the same length (50,000 yards, for example), it will be noted that the rates of change of range and azimuth angle differ widely depending on the course chosen. If the rangeis taken as the distance from the 4 point 0 to the point of the imaginary object on the course. such as the distance OK when the obiect is at the starting point K of the course KL. and if the azimuth angle is taken as the angle a formed between the range line OK and the axis 0X, the rate of these dimensions increases rapidly as the course line approaches the axis OX. For example, the rateof change of range and azimuth is much smaller for the course MN than -it is for the course KL, and intermediate rates of change may be had by choosing intermediate courses. The system is so arranged that the instructor may choose any course he desires for testing the students: not only is he able to select a course having any desired 'rate of change of range and angle, but he-may also determine the speed at which the imaginary object moves along the chosen course.

The apparatus at the instructors position is mounted in an apparatus cabinet 600, shown in Fig. 6, having front closure doors SM and 602 and a control panel 003. The sides of the cabinet are provided with ventilation slots 600 and with cable jacks, such as 605, by which the cabinetmay be connected with one or more students positions. The apparatus at a students position is mounted in an apparatus cabinet 600, shown in Fig. 6, having front closure doors 001 and 008, a panel 609 on which an oscilloscope and controls therefore are mounted, and a control panel 6I0. The sides of the cabinet 600 are provided with ventilation slots 6 and with cable jacks, such as 6I2, by which the cabinet may be connected by plugended cables BI3 with the instructor's apparatus cabinet 600 and with, other students cabinets similar to cabinet 006.

Referring now to Figs. 1 to 3, the instructor's position and the associated equipment is shown in Figs. 1 and 2 while one of a plurality of students positions with the associated equipment is shown in Fig. 3. The mechanism for generat-' ing the course includes an azimuth shaft I00,

- the angular position of which represents the azimuth angle a. The shaft I00 is driven by a sym chronous motor IOI having two stator windings I 02 and I03. The shaft of the motor I M carries a gear I04 for driving the azimuth shaft I00 through the associated gear I05. The synchronous motor IOI is controlled by a rotary synchronous transformer I06 comprising a pair of stator windings I01 and I08 and a rotor winding I09.

The rotor I09 of the transformer I06 is mounted on the shaft I00 and rotates therewith. Voltages induced in the rotor winding I09 in the manner to be described hereinafter cause the synchronous motor IOI,to rotate to drive the shaft I00 to represent continuously the azimuth angle of the imaginary object moving along the generated course.

utilized, as will be explained later, to control the appearance of images formed on the screen of the oscilloscope 300 at the students position.

The generating mechanism also includes range shafts 200 and 2M. These shafts are driven through suitable gear connections by a synchronous motor 202 having two stator windings 203 and;20l. The gear connections between the shaft 205 of the" motor andthe range. shaft 20I are such that the shaft 200 makes a plurality of revolutions for one'revolution of the shaft 20I, two successive revolutions of the shaft 20I representing a full generated course.

The synchronous motor 202 is controlled in part by-a secondary rotary synchronous transformer I'I'I having stator windings I I8 and II 9 and a rotor winding I20 which is mounted on the shaft I00 for rotation therewith. The motor 202 is also under the control of the range shaft 20I through the medium of resistor 208, the brush 201 of which is secured to the shaft 20I for rotation therewith. The joint control of the transformer H1 and resistor 208 over the synchronous motor 202 is exercised through a summing amplifier 208. To this end the rotor winding I20 of the transformer H1 and the output circuit of the resistor 206are both connected to the input side of the amplifier 208 over conductors I34 and 2, respectively, and the output circuit of the amplifier is connected to the winding 204 of the motor over an obvious circuit. J

The movement of the shafts 200 and 20I being a function of the range of the moving object, the shaft 200 is used to drive a phase shifter 209 and the shaft 20I is used to drive the brush of resistor 200. The phase shifter 209 translates the movement of the shaft 200 into an electrical quantity, namely. the phase angle, of an alternating wave which is used at the student's position to form on the screen 800 an image representing the changing range of the object. Re,-

sistor 206 serves .to determine the extent of rotation of the synchronous motor 202 to. define the simulated course in terms of range.

The instructor's position is also equipped with a variable resistor I2I, with which he is able to i svalue. If, however, the rotor is turned through an angle of 90 degrees, the induced voltage in the winding I09 has its maximum value. Similarly,- the voltages induced in the rotor winding when the stator windings are energized separately vary between zero and maximum values at the 90 degree points in the rotation of the rotor. Forexample, the stator winding I08 induces zero voltage in the winding I09 when the shaft I00 is in its zero position. maximum voltage when the shaft is rotated 90 degrees and zero voltage at 180 degrees; and the stator winding I01 induces in the rotor winding maximum voltage at zero degrees, zero voltage at 90 degrees, and ,maximum voltage at 180 degrees. Moreover. there are two points in the cycle of rotation of the rotor at which the phase of the induced voltage reverses by reason of the angular position of the rotor withrespect to the stator windings. For example, while the shaft I00 is rotating from its zero position through thefirst 90 degree angle. the induced voltage in the winding I09 is ofa given phase, depending also, of course, upon the phase of the resultant of the voltages in the stator windings. As the shaft I00 rotates through the second 90 degree angle. the phase of the voltage in the winding I09 is reversed. In the third quadrant the phase remains the same as in the second quadrant, but

preselect any desired course, and with a, flight motor I22 which operates to generate the selected course. The speed of fl ght of the imaginary airplane over the chosen course may be varied at will by the instructor by means of a rheostat or other suitable device I28 which controls the speed of rotation of the flight motor I22. The motor I22 through gears I20 and I25 drives a resistor brush arm I26 through a complete circle, and this resistor in tumyaries the voltages of the transformers I06 and H1, causing the rotation of the motors IM and 202 to produce the varying electrical quantities in the re sistors H0 and III and in the phase shifter 209 which represent azimuth angle and range of the imaginary object throughout the generated course.

in the last and final quadrant the phase of the voltage in the winding I09 again reverses. The significance of these phase relations with respect to the operation of the synchronous motor IOI will be explained more fully hereinafter. The foregoing explanation also app I5 th transformer I H.

Th synchronous motor [0! is a two-phase motor. That is to say, the voltages energizing the stator windings I02 and I03 are 90 degrees apart,

' and the direction in which the motor rotates de- Before proceeding further with the system as g rotor winding a, voltage proportional to the vector sum of the voltages in the stator windings which varies in magnitude from zero to a maximum value over a 90 degree angle of rotation of the rotor. For example, if windings I01 and I08 are energized by alternating voltages of the same phase but of diiferent' magnitudes, the resultant of these voltages'induces a voltage in the rotor winding I09 the magnitude of which is proportional to sai resultant and which also depends pends on this phase relation. If the voltage in one winding leads that in the other by degrees the motor rotates in one direction, whereas if the first-mentioned voltage lags the other by 90 degrees the motor will rotate in the opposite direction. Furthermore, the rotor comes to rest as soon as the voltage in-either winding is reduced to zero notwithstanding the magnitude of the voltage in the other winding. What has been said of the motor IOI is also true of the other synchronous motor 202.

As above mentioned, the position of the azimuth shaft I00 represents the azimuth angle a, and the position of this shaft is controlled by the resistor I2I. Although the resistor brush I30 is always resting on some point other than the grounded midpoint I3I to insure the correct direction of rotation of the shaft I00, the midpoint position of the brush I30 corresponds to the zero angular position of the shaft I00. However, at the endof the last preceding flight the brush I30 is left in the position used during that flight, say at the position on the resistance wire I3I', I32 illustrated in the drawing. Also following the last preceding flight it may be assumed that the flight control resistor I21 has its brush I26 standing at the end point I28 of the resistance wire I49. Under these conditions the full voltage of the point I29 is ap-' plied to the stator windings I08 and H9, and a relatively small voltage is applied by way of brush I30 to the stator windings I01 and H8. As a'resuit of these two applied voltages in the windings I01 and I08 the induced voltage in the rotor wind- 7 ing I09 energized the stator winding I03 of the motor IN, and the motor Il has caused the shaft I00 to rotate through an initial angle representingthe position of the brush I30 and also equal to the starting azimuth angle of the course which that particular setting of the brush I30 represents. It will be noted that the voltages applied to windings I 01 and I00 are of the same phase and that the azimuth shaft I00 is in the first quadrant of its rotation. Under these conditions the voltage induced in the winding I09 and applied through the amplifier I36 to the stator winding I03 bears a phase relation to the source I52 such that the synchronous motor IOI drives the shaft I00 in a direction to advance the brushes 3 and H4 upwardly over the resistances I42 and I44.

If new the flight motor I22 is operated to drive the flight brush I26 in a clockwise direction, the voltage applied to the winding I08 is constantly decreased until it reaches zero value at the grounded midpoint I50 of the resistor which corresponds to the midpoint of the flight. As the voltage in the winding I08 decreases to zero the voltage developed in the rotor I09 causes the motor I M to rotate the shaft I00 through an angle of 90 degrees from its zero position at which time the brushes I I3 and I I4 are moved to substantially the midpoints of their associated resistances. The brush I26, continuing to move, passes the midpoint I50 and applies a potential to the winding I 08 which gradually increases from zero to the maximum potential value'of the potentiometer point I35. As soon as the brush I26 passes the point I50 the phase of the voltage applied to the winding I08 is reversed with respect to that applied to the winding I01. This reversal, however, is neutralized by a reversal which takes place at the same time by reason of the rotor I09 having passed the 90 degree point. Therefore, the phase of the voltage applied to the winding I00 remains unchanged, and the motor IOI continues to rotate the azimuth shaft I00 in the same direction from its 90 degree position to an angular position equal to 180 degrees minus the initial starting angle. At this stopping point the brush reaches the end point I5I, and the resultant of the voltages applied to the windings I01 and I08 is of the same magnitude as the resultant of the voltages applied 'at the commencement ofthe course. As the shaft I00 rotates through the second half of the course,

. namely from its 90 degree point to an angle of 180 degrees minus the starting angle, the brushes H3 and H4 move upwardly on the resistance wires I42 and I44 and come to rest at the corresponding points on these wires.

Since the rotor I20 of the transformer II! is displaced 90 degrees with respect to the rotor I09, the voltages developed in this rotor have their maximum values at the times when the corresponding voltages in the winding I09 have their minimum values and vice versa. Therefore, at the time the shaft I00 previously moved to its position of adjustment corresponding to the setting of the brush I30, the voltage developed in the rotor winding I20 has a maximum resultant valu for the voltages applied to the stator windings H8 and I I9 and is applied to the input side of the summing amplifier 208. It will be noted that the phase of the voltage applied over conductor I34 to the amplifier 208 is the same as the potential at the point I29. At the same time a voltage of the opposite phase from the point I35 is applied over conductor I36 to the end point 2I0 of the resistance wire 22I thence by way of brush 201, conductor 2| I' to the input side of the amplifier 206. These input voltages being of opposite phase are added algebraically by the amplifier and the resultant output voltage applied to the stator winding 204 of the motor 202 bears a phase relation with respect to the voltage applied from source 2 I2 to the other winding 203 such that the motor rotates the shaft 20I through the intermediate gear mechanism to rotate the brush 201 in a clockwise direction until it reaches a point where the voltage applied over conductor 2 is equal to that applied over conductor I34. When the brush 201 reaches this point of initial adjustment, the output voltage oi the amplifier 200 is reduced to zero and the motor 202 comes to rest.

Thus the range shaft -20I at the commencement of any flight occupies an initial position which, like the azimuth shaft I00, corresponds to the setting of the brush I30. Thereafter, as the flight brush I20 is driven from its initial position on the point I20 to the midpoint I50 and the azimuth shaft I00 rotates through an angle of degrees, the voltage in the winding I20.decreases correspondingly. This decrease in voltage unbalances the summing amplifier 208 and a voltage now appears in the winding 204 which is equal to the algebraic sum of the two input voltages at the amplifier and which has a phase relation to the voltage of the source 2I2 such that th motor drives the shaft 20I to rotate the brush 201 from its initial starting point to the end point 222 where it arrives at the time the azimuth shaft I00 reaches th 90 degree point and the brush I26 reaches the midpoint I50. In other words, the brush 20'! reaches the end point of the resistance wire 22I at the midpoint of the generated course. As the shaft I00 continues to rotate in the second half of the course and brush I26 moves from the midpoint I50 toward theend point I5I, the voltage applied to the summing amplifier from the winding I20 increases to a maximum value and, being of opposite phase to the voltage applied from resistor 206, the resultant voltage now applied to the winding 204 bears a phase relation to the source 2I2 such that the motor 202 reverses and rotates in the opposite direction during the second half of the course. As th motor 202 rotates through the second half of the course, the brush 201 is returned from the endpoint 222 to its initial starting point where it comes to rest concurrently with the stopping of the azimuth shaft I00 and with the arrival of the brush I26 at the end point I5I During the rotation of the azimuth shaft I00 for the generation of a course, the threaded shaft II2, driven by the shaft I00 through the gears I I5 and I I6, advances the brushes I I3 and 4 upwardly over the resistance wires I42 and I43. As

will be explained later, the setting of these resistors II 0 and III determines'the relative amplitude of a pair of azimuth image marks which appear on the screen 300 when the student is following the azimuth angle. Also the initial setting of the azimuth shaft I00 turns the rotor I20 of the transformer II'I to the corresponding angular position. Also during the generation of the course-the rotation of the phase shifter 209 on the range shaft 200 varies the phase of an alternating wave at a rate corresponding to the rate of change of the range of the moving object, and this phase-shifted wave is utilized as will be explained later to control the movement of an image mark on the screen of the student's oscilloscope.

To choose a course of flight from the boundary 9 line E1? to the boundary line on the instructor moves the brush I30 to a corresponding point between the zero point [3i and the full voltage Point I32 on the upper half of the resistance wire. For

shaft I00 to the point where the voltage induced in the rotor I09 is reduced to zero, whereupon the motor I0l comes to rest. The angle through which the shaft I00 turns to assume this position of initial adjustment is equal to 111 which is the azimuth angle corresponding to the starting point M of the course MN. The course MN is generated in the period oftime required for the flight motor I22 to'drive the arm I26 through a complete revolution. During this period the azimuth angle changes from the value on to the value 180 degrees minus 411. Likewise during this same period the range varies from the initial value OM to the midpoint value OP and then to the ter-- minating value ON. For a given speed of the flight motor I22 it will be noted that the rate of change of the azimuth angle a and of the range depends on the course line selected. For example, the rate of change of these dimensions in creases as the passing distance OPdiminishes. In other words, the rate of change of these dimensions for the course line KL is much greater at a given rate of speed than that of the course line MN. Hence the instructor has a wide choice ,fpf courses all of which have different rates of change ofthe dimensions in which he is interested in testing the students proficiency.

As mentioned hereinbefore, each student's position, illustrated in Fig. 3, is equipped with an oscil-' loscope 300 having a luminous screen on which images are formed representative of the changing range and azimuth angle of the imaginary objectf Also the student's-position is provided with a manually operable phase shifter 30I which he manipulates by the control wheel 335 to control certain images on the screen in his eflort to follow the range of the moving object. Furthermore, the student is provided with variable resistors 302 and 303 which he manipulates with a hand wheel 304 to control other images on the oscilloscope screen in his efiort to follow the azimuth angle of the moving object.

The range of the moving object-is depicted to the student on the oscilloscope screen by means of a horizontal trace 305 having a reference mark, such as a notch 306, therein and a triangular shaped image mark or pip 301 which moves along the trace 305m accordance with the movement of the object being followed. The notch 305 remains stationary on the screen and is located preferably near the center of the horizontal trace of a'wave taken from the common source of oscillations 2I3 in accordance with the varying range of the object. To this end the wave from the common source'2l3 is amplified by a suitable amplifier 2H and applied to the phase shifter 209 which is being operated by the shaft 200 during the generation of the course. The rate of change of phase caused by the shifter 209 represents the rate of change of range of the moving object. The output wave from the phase shifter 209 is amplified by a suitable amplifier I39 and is then utilized to sweep the beam of the oscilloscope 300 to produce the sustained horizontal trace 305 on the screen. To this end the output wave from the amplifier I39 is conducted to each of the students positions where it is rectified by a suitable pulse rectifier 308 to produce impulses .on the screen. However, the commencement in time of each individual sweep of the beam bears a phase relation to the originalsource 2I3 which represents the range of the imaginary object.

The manner in which this relation of the sweep voltage is utilized to move the image 30'! will be disclosed presently. First it should be explained that the notch 305 is formed in the center of the trace 305 by means of a wave taken from-the output circuit of the phase shifter 209 and subjected to a further shift of degrees by means of any suitable phase-shifting device I40. After undergoing this 90 degree shift the wave is applied over conductor I52 to a pulse rectifier 3I3, and the output pulses from this device are applied from a suitable generator 3i! which shapes or forms them into square-topped pulses and applies them to-the vertical plates 3l5 and 3H; of the oscilloscope. These square-topped pulses cause the formation of the notch 303 in the horizontal trace on the screen.

The formation and control of the range image mark30'l will now be described, A wave taken from the original source 2I3 and amplified by the amplifier 2 is applied over conductor 223 to the student's phase shifter 30L The output circuit from this phase shifter leads through the normal contacts of key 3H to the impulse rectifier 3I0. The rectifier 3I0 convertsthe alterto an impulse generator 3I9 of any well-known type which converts them into a series of sharp impulses of like phase. The output impulses from the generator 3I9 are strengthened by a suitable amplifier 320 and are then applied to the vertical plates 3I5 and 3I6. Each time one of these impulses is applied to the oscilloscope plates a deflection is produced in the horizontal trace 305 to form the sharp pip 301. Since the time at which the image pip is formed with respect to the commencement of the sweep of the horizontal trace varies in accordance with the movement of the phase shifter 209, the image 301 will move along the trace 305 representing tothe student the changing range of the imaginary object. By operating the phase shifter 30I through a given distance, a student is able to introduce into the x ll pip-forming wave a sumcient to bring the pip 301 into juxtaposition with the notch 303 and thereafter to introduce continuously a change in phase which is Just suilicientto maintain the pip in the notch. As long as he can maintain this relation, he is following the range of the-target accurately.

' The formation and control of the azimuth images will now be described. It should be noted that both the range and azimuth images are displayed on the same oscilloscope 300 but not concurrently. when the student is following the range, the keys 3" and 32I are in the positions indicated and are in the alternate positions when tion of the azimuth pip within its notch is accomplished by taking a wave from the output of the phase shifter I40, applying it to the rectifler'3 I3, utilizing the rectified impulses in the generator -3 I9 to produce sharp impulses of like phase, and

applying these impulses to the vertical plates 3I5 and 3I3 of the oscilloscope. Since the impulses applied to thevertical plates of the oscilloscope are always of the same phase as the impulses which form the notch in the horizontal trace 305, it follows that the image mark orpip is always located within the notch. This relation is illustrated in Fig. 5. The circuit for'applying the pip-forming waveextends from conductor I4I on the output side of the phase shifter I40 through resistors I I and III in parallel, through resistors 302 and 303m parallel, thence through the switch contacts 322 and 323, conductor 324, alternate contacts of key 3" to the impulse rectifier 3I8.

The Purpose Of the switching device 325 is to switch the conductor 324 alternately from one pair of resistors IIO302 to the other pair III- 303 and at the same time to switch the conductor'325 from one to the other of the image spacins batteries 32! and 323. The switch 325 is driven or otherwise operated by a synchronizing motor or any other suitable synchronous mechanism for performing this switching operation in proper relation with respect to the sweep voltage. To this end the switch operating mechanism 323 is operated by a wave taken from the amplifier I33; therefore, the contacts of the switch 325 are opened and closed at the same frequency and in phase with the sweep voltages which produce the horizontal trace 305 on the screen 300.

With the azimuth shaft I00 in its normal position and with the resistors I I0, I I I, 302 and 303 in the positions shown in the drawing, assume that the wave in conductor 330 is in such phase that the switch 325 occupies the position shown in the drawing and that the beam of the oscilloscope 300 is about to sweep across the screen. The small positive potential applied to the sweep circuit from the battery 321 causes the notch 350 (Fig. to occur lust before the beam reaches the censnut of phase which is Just 12 closed contact 322 and thence over conductor 324 1 as previously traced. On the next sweep of the oscilloscope beam the switch 325 occupies its al-' ternate position, and the negative voltage of battery 323 biases the sweep voltage to cause the for. matlon of the notch 352 just beyond the center of the oscilloscope screen. At the same instant that the notch 352 is formed, the associated pip 353 therein is formed. The circuit for the formation of the pip353 may be traced from conductor I4I, brush II4, resistance I44, conductor I45, resistance 333, brush 334, closed contact 323 to the conductor 324. This cycle is repeated at a rate above the persistence of vision. Therefore, both of the notches 350 and 352 and their'associated image marks "I and 353 appear continuously on the screen of the oscilloscope. With the resistors in the positions illustrated the relative values of the resistances in the parallel circuits determine the relative sizes of the two image marks I and 353. If the resistances of the four variable resistors are equal the images 35I and 353 will be of the student does not operate his control wheel 304.

However, by operating the wheel 304 at the proper rate the student is able to introduce compensating resistance values that hold the two image marks 35! and 353 at equal altitudes. As long as he is able to maintain this relation of the equality he is accurately following the azimuth angle of the imaginary object in space. Y

To describe briefly the-operation of the system assume that the instructor wishes to simulate the flight of an airplane over the imaginary course C from the point M to the point N which may correspond in distance to 50,000 yards, he first moves the brush I30 from the position it is occupying at the time to the point on the resistance wire I3 I I32 which corresponds to the starting azimuth angle In. To facilitate the location of the brush I30 a scale I43 may be provided. Next the instructor sets the control device I23 corresponding to the desired speed of flight over the course MN. The positioning of the brush I30 causes the azimuth shaft I00 to take an immediate setting corresponding to the azimuth angle a1, and the brushes I I3 and 4 are likewise positioned at points on their resistance wires I42 and I44 corresponding to the starting value of the azimuth 3 angle. At the same time the positioning of the brush I30 and the movement of the shaft I00 cause motor 202 to operate as hereinbefore described, and the motor 202 through the gear train 2I5, 2I5, 2I'I, 2I3, 2I0 and 220 rotates the range shaft 20I to position the brush 201 at a point on the resistance wire 22I corresponding to the starting range 0M. If the instructor decides that the students are to follow the range of the imaginary object during the flight from M to N, he advises them to set their keys 3" and 32I in the normal positions as shown in the drawing. He then operates the reversing switch I41 to the position such that current from the generator I48 drives ter of the screen 300. As this same instant the pip 35l is formed and occurs exactly within the notch. The circuit for the pip-forming wave may be traced from conductor I4I, brush 3, resistance I42, conductor I43, resistance 33I, brush 332,

the flight motor I22 in the proper direction for rotating the flight resistor brush I26 around the resistance wire I43 in a clockwise direction. As the wiper I26 moves at a uniform rate through the first half of its cycle toward the grounded midpoint I50, it decreases the voltage applied to stator windings I03 and II! at a constant rate from the maximum value of the potential at point cause the motor IN to drive the shaft III at an increasing rate of change of the azimuth angle as the imaginary object approaches the midpoint Pi of its course MIN, until finally when the brush I26 reaches the midpoint III the shaft I has rotated through an angle of 90 degrees from its normal position. That is to say, the sum of the starting azimuth angle In and the angle a: is 90 degrees.

As the azimuth shaft I00 rotates at an increasing rate of speed to the midpoint the voltage in the rotor I20 diminishes at a decreasing rate from the maximum value to zero with the result that the motor 202 drives the phase shifter 200 at a rate which is relatively high at the commencement of the course and decreases as the imaginary object approaches, the midpoint P of the course. An inspection of Fig. 4 will reveal why the azimuth shaft I00 should rotate at a progressively increasing speed and the range shaft 200 at a .progressively decreasing speed as the imaginary airplane moves-from its starting point M to the midpoint P of the course. The reason is that the,

rate of change of the azimuth angle increases and the rate of change of the range decreases in the first half of the flight. During the first half of the flight while the azimuth shaft I00 is moving from its starting to its midpoint position the resultant of the voltages applied to thesumming amplifier 208 by the rotor winding. I20 and the resistor 200 is spaced 90 degrees in 'phase and in a. given sense with respect to the voltage delivered by the source 2 I 2 to the motor 202. Therefore, themotor 202 rotates in such adirection that the brushy201 of the resistor 200 moves from its starting position to the end point 222 of the resistance wire 22I during the first half of the course. As soon'as the flight resistor brush I23 passes beyond point, I50 to commence the second half of the course, the phase of thevoltage applied to the stator winding H0 is reversed. Also a reversal occurs in the voltage induced in the rotor winding I20 since the rotor is now in its second quadrant. As a result of these two reversals the phase of the voltage in conductor I34 remains the same and of course the phase of the voltage applied from the resistor 200 to the summing amplifier 200 remains the same as in the first half of the course. But the voltage delivered over conductor I34 in the second quadrant leads the voltage in conductor 2 in magnitude. Therefore, the resultant ofthese voltages when i applied to the summing amplifier 200 and thence to the stator winding 204 is 90 degrees out .of phase in the opposite sense with respect to the voltage in the winding 202. Therefore, the motor 202 reverses and drives the brush 201' from its end point 22 back to the starting point on the wire 22I which now corresponds to the end point N-of the flight.

During the second half of the flight as the object moves from the point P to the point N the azimuth shaft I00 rotates-in the same direction at a steadily decreasing rate of speed until the brush I26 reaches the end point III, at which time the shaft I00 will have rotated through an angle a: from its midpoint position. It will be noted that the stator windings I08 and II! are energized during the second half of the course by voltage from the point I35 which is opposite in polarity to the voltage taken from the point I29 during the first half of the course. However, the windings on the transformers I00 and H1 are such course the motor 202 drives the phase shifter 209 14 that the induced voltages in the rotors I09 and I20 during the second half of the course are in the same direction as they were during the first half. Consequently the synchronous motor IIll continues to rotate in the same direction and the shaft I00 is driven to the position above mentioned, and the brushes I I3 and I are driven to positions onitheir resistance wires I42 and I corresponding to the angular position of the shaft I00. Likewise during the second half of the at a constantly increasing rate of speed.

While the phase shifter 209 is being driven in one direction at a decreasing rate of speed and then in the opposite direction at an increasing rate of speed from the beginning to the end of the course, the range pip 301 on the student's oscilloscope tends to move across the screen at a corresponding rate. Although the direction of rotationof the phase shifter 209 changes at the midpoint of the course, this does not adversely affect the operation of the oscilloscope since the range image mark portra'ys the rate of change of range which is a function of the speed of rotation of phase shifter 209 and which is independent of direction. Observing the moving image mark, the student manipulates his phase shifter 30I to bring the mark into juxtaposition with the notch 306 and then endeavors to introduce the right amount of phase shift to hold the mark in the notch. w

Assume now that the instructor, having generated a course from the point M to the point N, decides to execute a flight in the opposite direction along the course LK and that he wishes the students to follow the azimuth angle of the moving object on the return flight. He advises them to shift their keys 3" and 32I to the alternate positions and moves the brush I30 from its previously adjusted position to a new position on the resistance wire I3I, I32 which corresponds to the starting azimuth angle a. This adjustment of the potentiometer brush I30 changes the voltages in windings I01 and H8, and the synchronous motors II and 202 immediately readjust the azimuth shaft I00 and the range shaft 20I respectively to positions representing the azimuth angle a and the starting range 0L. Next the instructor operates the switch I53 to connect the source" I54 to the stator winding I02. The source I54 differs in phase from the source I52 by degrees, and the purpose of this shift is to cause the motor IM to drive the shaft I00 in the reverse direction and the brushes H3 and H4 downwardly over the associated resistance wires during the return flight from the line GH to the line EF. Finally the instructor closes the switch I41 for driving the motor I22 in the opposite direction to move the flight resistor brush I26 in a counterclockwise direction from its end point I5I back toward the end point I28.

At the beginning of the course LK the brushes I I3 and I I4 are standing at points near the upper ends of resistance wires I42 and I44 corresponding to the initial azimuth angle a and the azimuth images 35I and 353 appear on the oscilloscope screen 300. As the shaft I00 rotates and the brushes H3 and I I4 move over their resistances wires in response to the generation of the course by the flight motor I22, the student observes the changing altitudes of the images and manipulates his wheel 304 to introduce compensating values of resistance for the purpose of maintaining the images at equal altitudes. The degree with which he is able to approximate equal erating notches or square-topped pulses.

altitudes for the image marks is the measure at his proficiency in ioliowing the azimuth angle or the imaginary airplane moving alougthe course LK. The completion of the flight is determined by the return of the brush. III to the end point I29. When the brush arrives at'this point the azimuth shaft lill'wili come torest at an angle from its zero position equal to the angle a, and the range shaft 2" will come to rest with the brush 201 at a point on the wire "I corresponding to the terminating range OK. It will, of course, be understood that the movement of the brush I26 through the zero .point Ill on the return flight causes the reversal of the synchronous motor 202 to bring about the return "movement of the'brush 201 from its end point 22!. to its initial starting point near the other end or the resistance wire.

The end points of the flights may be controlled manually by the instructor. Zlo do this he observes the movement of the brush I29 and opens I a variable distance and serving in each of its sucthe switch ill to stop the flight motor In when its brush reaches either one of the end points I and I6 I If desired, however, any suitable switchcontrolling device may be provided on the shaft I55 for opening the circuit of motor I92 at these end points.

The oscillator or generator III. the ampllilers 2, I88, I89 and 920 may be ofany suitable and well-known types. The phase shifters I09 and 8M may be of any suitable type such as the one disclosed in the patent to L; A. Meacham 2,004,618 of June 11, 1935. The impulse generator Ill may also be of any suitable and well-known type such as the one disclosed in the patent to Wrathall 2,117,752 of May 17, 1938. The notch generator 8 may be of any suitable type capable of gen- One such generator is shown anddcscribed in the application of A. G. Fox, Serial No. 448,099, flied June 23,1942. The rectifier-s 800, lit and III, which serve to convert alternating waves into impulses of the same polarity and of the same phase as the original wave may likewise be of any wellknown type. Finally the oscilloscope 900. which ,is illustrated schematically in the drawing, may

be of any well-known cathode beam device in which potentials on the vertical and horizontal plates serve to cause the movement of the beam in the desired manner across the luminescent screen on which the images are formed.

Reference is also made to the application of Andrews and Cesareo, Serial No. 518,042, filed December 6, 1943, which claims certain features of the training system disclosed herein.

What is claimed is: I

1. In a mechanism for simulating courses of movement of an object in space, said object bein related to a reference point by a dimension which varies in magnitude, the combination of a driven member, the instant position of which represents the magnitude of said dimension, means for preselecting a desired one of said courses, automatic means for operating said driven member to simulate the selected course, means controlled by said driven member for varying an electrical quantity to represent the variation in said dimension caused by the movement ofthe object along said cessive positions to represent the instant ma nitude of said dimension, means for selecting a desired one or said courses, means controlled by said selecting means for causing said driven member to assume a position corresponding to the value of said dimension for the starting point of the selected course, means for operating said driven member to simulate the selected course.

means controlled by said driven member for varying an electrical quantity to represent the variation in said dimension caused by the movement of the imaginary object along said course, and means for utilizing said varying electrical quantity. I

8. In a mechanism for simulating the courses 'of movement of an object, said objectv having a range from a reference point which varies in magnitude from the starting point to the end point of each course simulated, the combination of a driven member, the instant position of which represents the range of said object, means for selecting a desired one of said courses, automatic means for operating said driven member to simulate the selected course, means controlled by said driven member for varying an electrical ,quantity to represent the variation in range ber to simulate the preselected course, means controlled by said driven member for varying an electrical quantity to represent the variation in said angular dimension, andmeans for utilizing said varying electrical quantity.

5. In a mechanism for simulating the courses of movement of an imaginary object in space, said object having a range and azimuth angle relative to a reference point which vary in magnitude for each of the courses simulated, the combination of a driven member, the successive positions of which represent the instant magnitudes of range and azimuth angle, means for preselecting a desired one of said courses, automatic means for operating said'driven memher to simulate the selected course, means controlled by said driven member .for varying electrical quantities to represent the variations of range and azimuth angle, and means for utilizing said varying electrical quantities.

6. In a mechanism for simulating the courses of movement of an object in space, said object course, and means for utilizing said varying electrical quantity.

2. In a mechanism for simulating courses of movement of an imaginary object in space, said object being related to a reference point'by a dimension which varies in magnitude between diiferent limits for each course simulated, the

ment of the object along said course, and means for utilizing said varying electrical quantity.

7. In a mechanism for simulating courses of movement of an imaginary object in space, the range of said object varying with respect to a fixed reference point as the object moves along the simulated course, the rate of change of range varying for the diflerent courses simulated, the

, combination of a driven member, the successive positions of which represent the instant magnitude oi. said range, means for preselecting a desired one of said courses, automatic means for operating said driven member to simulate the selected course, means controlled by said driven member for varying an electrical quantity to represent the variation 0; range caused by the movement of the imaginary object along said course, and means for utilizing said varying electrical quantity.

8. In a mechanism for simulating the courses of movement of an imaginary object in space,

said object being related to a fixed reference point by an angular dimension which varies in 20 Number 18 magnitude as the object moves along the simulated course. said angular dimension having dit-,

ferent rates oi change for different courses, the combination of a driven member, the successive positions of which represent the instant magnitude of said angular dimension, means for selecting a desired one of said courses, automatic means for operating said driven member to simulate the selected course, means controlled by said driven member for varying an electrical quantity to represent the variation in said angular dimension, and means for utilizing said varying electrical quantity,

DOUGLAS H. PENNOYER.

REFERENCES CITED The following references are of record in the file of this patent:

UNITED STATES PATENTS Name Date Karnes Dec. 19, 1933 Cone June 15, 1943 

